| 一种基于FPGA的力反馈数据手套 |
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| 引用本文： | 王书付,谢宗武,方红根,张继真.一种基于FPGA的力反馈数据手套[J].机械与电子,2010(7):56-59. |
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| 作者姓名： | 王书付 谢宗武 方红根 张继真 |
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| 作者单位： | 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江,哈尔滨,150001 |
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| 基金项目： | 哈尔滨市科技创新人才研究项目基金 |
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| 摘 要： | 为了实现对机器人灵巧手的遥操作控制,并将灵巧手与外界的相互作用力反馈给操作者,以获得真实的临场感,设计出一种新型的力反馈数据手套.对数据手套的基于人机工程的模块化的外骨骼机械结构进行了介绍,另外,重点对融合光、电、磁、力的多传感器系统,以及基于FPGA的底层实时控制系统进行了详细阐述.
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| 关 键 词： | 力反馈 数据手套 FPGA SOPC |
A Type of Force Feedback Data Glove Based on FPGA |
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| WANG Shu-fu,XIE Zong-wu,FANG Hong-gen,ZHANG Ji-zhen.A Type of Force Feedback Data Glove Based on FPGA[J].Machinery & Electronics,2010(7):56-59. |
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| Authors: | WANG Shu-fu XIE Zong-wu FANG Hong-gen ZHANG Ji-zhen |
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| Affiliation: | (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | In order to control a dexterous hand of robot that are remote,and to transfer the force between the dexterous hand and the environment to the operator,so as to augment telepresence,a new type of force feedback data glove is desiged.The modular exoskeleton mechanism based on Ergonomics of this device is introduced,particularly,the sensor system that integrates the optics,electrics,dynamics and magnetics,and the bottom real-ime control system based on FPGA are presented in detail in the paper. |
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| Keywords: | FPGA SOPC |
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